We present MIDGARD, an open source simulation platform for autonomous robot navigation in unstructured outdoor environments. We specifically design MIDGARD to enable training of autonomous agents (e.g., unmanned ground vehicles) in photorealistic 3D environments, and to support the generalization skills of learning-based agents by means of diverse and variable training scenarios. MIDGARD differs from other major simulation platforms in that it proposes a highly configurable procedural landscape generation pipeline, which enables autonomous agents to be trained in diverse scenarios while reducing the efforts and costs needed to create digital content from scratch.

翻译：我们推出了一个开放源码模拟平台,用于在无结构室外环境中自主机器人导航,我们专门设计了MIDGARD,以便能够在光现实的3D环境中对自主代理(如无人驾驶地面飞行器)进行培训,并通过多种不同的培训场景支持学习代理的普及技能。 MIDGARD与其他主要模拟平台不同,因为它提出了高度可配置的程序景观生成管道,让自主代理接受不同情景的培训,同时减少从零开始创建数字内容所需的努力和成本。